WO2020196744A1

WO2020196744A1 - Motor control device, motor control method, and motor unit

Info

Publication number: WO2020196744A1
Application number: PCT/JP2020/013643
Authority: WO
Inventors: 竜大堀; 直樹塩田; 聖基早田; 貴史八ツ田; 敦史川崎
Original assignee: 株式会社ミツバ
Priority date: 2019-03-26
Filing date: 2020-03-26
Publication date: 2020-10-01
Also published as: US20220190756A1; JP7462613B2; JPWO2020196744A1; CN113615068A; EP3952101A4; EP3952101A1

Abstract

A motor control device for controlling a brushless motor comprising a rotor and a three-phase armature coil, said motor control device comprising: a position detection unit, which detects the rotational position of the rotor; a control unit (54), which, in a first or second control mode, outputs a first or second drive signal to an inverter (52) at a current-supply time based on the rotational position of the rotor; and the inverter (52), which outputs a first or second current-supply signal to the three-phase armature coil when the first or second drive signal is input, wherein for any two of the three phases, a duty value when the duty of the applied voltages is the same is larger in the second control mode than in the first control mode.

Description

Motor control device, motor control method and motor unit

The present invention relates to a motor control device, a motor control method, and a motor unit.

Conventionally, a wiper motor (brushless motor) has been used as a drive source for swinging the wiper arm in a wiper device mounted on a vehicle. By driving the wiper motor, the wiper device swings the wiper arm within a predetermined range on the windshield to wipe off dust and raindrops adhering to the windshield.

Generally, the wiper device has a low speed (Lo) operation mode in which the wiper blade is operated at a low speed by driving the wiper motor at a low speed and a high speed (Hi) operation mode in which the wiper blade is operated at a high speed by driving the wiper motor at a high speed. (See, for example, Patent Document 1 and Patent Document 2).

In the wiper device described in Patent Document 1, the drive control for energizing the brushless motor is a rectangular wave drive in the low-speed operation mode and an advance / wide-angle energization drive in the high-speed operation mode.
The advance angle / wide-angle energization drive refers to a drive in which the energization angle is made larger than that of the rectangular wave drive in the low-speed operation mode and the brushless motor is energized at the timing of the advance angle.

Further, in the wiper device described in Patent Document 2, the drive control for energizing the brushless motor is a sine wave drive control in the low-speed operation mode and an advance / wide-angle energization drive in the high-speed operation mode.
As a result, in the control of the wiper device described in Patent Document 2, the operating noise of the brushless motor in the low speed operation mode can be reduced (silenced) as compared with the control of the wiper device described in Patent Document 1. (See paragraphs [0037], [0048] and [0056] of Patent Document 2).

Japanese Unexamined Patent Publication No. 2014-195389 International Publication No. 2017/159214

However, in vehicle electrical equipment such as wiper equipment, it is desirable to flexibly control the motor in consideration of reduction of current consumption and improvement of motor output.

The present invention has been made in consideration of the above circumstances, and flexible motor control can be performed while considering at least one of reduction of current consumption and improvement of motor output. The main purpose is to provide a motor control device, a motor control method and a motor unit.

In order to solve the above problems, one aspect of the present invention is a motor control device for controlling a brushless motor including a rotor and three-phase armature coils of U-phase, V-phase, and W-phase, and the rotor. The position detection unit that detects the rotation position, the first control mode, and the second control mode can be selected. In the first control mode, the first is performed at the energization timing according to the rotation position of the rotor. In the second control mode, a control unit that outputs a drive signal to the inverter and outputs a second drive signal to the inverter at an energization timing corresponding to the rotation position of the rotor, and in the first control mode. With the inverter that outputs the first energization signal as the applied voltage to the three-phase armature coil and outputs the second energization signal as the applied voltage to the three-phase armature coil in the second control mode. , And the duty value when the duty of the applied voltage is the same for any two of the three phases is larger in the second control mode than in the first control mode. It is a control device.

According to the present invention, flexible motor control can be performed while considering at least one of reduction of current consumption and improvement of motor output.
Further, according to another embodiment of the present invention, in the high-speed operation mode (second control mode), the brushless motor is driven in a sine wave by inputting the second energization signal. It is possible to suppress the operating noise of the brushless motor.

It is a figure which shows an example of the schematic structure which shows the windshield 11 of the vehicle 10 equipped with the wiper device 12 which includes the motor control device in this embodiment. It is a figure which shows an example of the appearance of the motor unit 19 in this embodiment. It is a bottom view of the motor unit 19 in this embodiment with the undercover removed. It is a figure which shows an example of the schematic structure of the control system of the wiper device 12 in this embodiment. It is a figure which shows an example of the schematic structure of the control unit 54 in this embodiment. It is a timing chart which shows the energization timing of each phase of U, V, W by the 1st drive control unit 641 in this embodiment. It is a timing chart which shows the energization timing of each phase of U, V, W by the 2nd drive control unit 642 in this embodiment. It is a timing chart which shows the energization timing of each phase of U, V, W by the 2nd drive control unit 642 in this embodiment. It is a timing chart which shows the energization timing of each phase of U, V, W by the 2nd drive control unit 642 in this embodiment. It is a timing chart which shows the energization timing of each phase of U, V, W by the 2nd drive control unit 642 in this embodiment. It is a figure for demonstrating the principle that the output characteristic of a motor is improved by providing the overlap energization section in the 2nd energization signal. It is a figure for demonstrating the principle that the output characteristic of a motor is improved by providing the overlap energization section in the 2nd energization signal. It is a figure which shows the motor characteristic of the brushless motor 30 in the 3rd harmonic energization drive and the wide-angle trapezoidal wave energization drive in this embodiment. It is a figure which shows the characteristic of the operation sound of the brushless motor 30 in the drive control used in the low output mode or the high output mode. It is a figure which shows the characteristic of the operation sound of the brushless motor 30 in the drive control used in the low output mode or the high output mode. It is a timing chart which shows the energization timing of each phase of U, V, W by the 2nd drive control unit 642 in this embodiment. It is a timing chart which shows the variation of software (software) in this embodiment. It is a figure explaining the process flow of the control unit 54 in this embodiment. It is a figure explaining the modification of the processing flow of the control unit 54 in this embodiment. It is a figure explaining the modification of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit. It is a figure explaining the modification of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit. It is a figure explaining the modification of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit. It is a figure explaining the modification of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit. It is a figure explaining the modification of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit. It is a timing chart which shows the energization timing of each phase of U, V, W by the 1st drive control unit 641 in this embodiment. It is a timing chart which shows the energization timing of each phase of U, V, W by the 2nd drive control unit 642 in this embodiment. It is a timing chart which shows the energization timing of each phase of U, V, W by the 2nd drive control unit 642 in this embodiment. It is a figure which shows the relationship between the current consumption and the electric angle when the electric angle is set to 110 ° in the 2nd energization signal. It is a figure which shows the relationship between the rotation speed of a motor, and the electric angle when the electric angle is set to 155 ° in the 2nd energization signal.

Hereinafter, aspects of the present invention will be described through embodiments of the invention, but the following embodiments do not limit inventions within the scope of claims. Also, not all combinations of features described in the embodiments are essential to the means of solving the invention. In the drawings, the same or similar parts may be designated by the same reference numerals to omit duplicate explanations.

The motor control device of this embodiment controls a brushless motor that swings the wiper arm. Then, in the low output mode (first control mode) in which the output of the brushless motor is low, the motor control device energizes the brushless motor by a sine wave (first energization signal) in which harmonics are superimposed on the sine wave. In the high output mode (second control mode), which has a higher output than the low output mode, the brushless motor is energized by a sine wave (second energization signal) in which the first energization signal is a wide-angle trapezoidal wave. Hereinafter, the motor control device according to the present embodiment will be described with reference to the drawings.

FIG. 1 is a diagram showing an example of a schematic configuration showing a windshield 11 of a vehicle 10 equipped with a wiper device 12 provided with a motor control device according to the present embodiment.
As shown in FIG. 1, the vehicle 10 includes a windshield 11 and a wiper device 12.
The wiper device 12 wipes the windshield 11.
The wiper device 12 includes

wiper arms

14, 16,

wiper blades

17, 18, a motor unit 19, and a power transmission mechanism 20.
The wiper arm 14 swings around the pivot shaft 13. The wiper arm 16 swings around the pivot shaft 15.
The wiper blade 17 is attached to the free end of the wiper arm 14. The wiper blade 18 is attached to the free end of the wiper arm 16.
The motor unit 19 drives the

wiper arms

14 and 16. In the present embodiment, the power of the motor unit 19 is individually transmitted to the

wiper arms

14 and 16 via the power transmission mechanism 20 composed of levers, links and the like.

FIG. 2 is a diagram showing an example of the appearance of the motor unit 19 in the present embodiment. FIG. 3 is a bottom view of the motor unit 19 shown in FIG. 2 with the undercover 28 removed.
As shown in FIG. 2, the appearance of the motor unit 19 is mainly composed of the case 23 and the frame 24.
The case 23 has a bottomed cylindrical shape. The frame 24 has a hollow shape. The frame 24 and the case 23 are fixed by a fastening member (not shown).

As shown in FIG. 3, the motor unit 19 includes a brushless motor 30, a rotor shaft 22a, an opening 24a, a worm wheel 25, an output shaft 26, a reduction mechanism 27, an undercover 28, a control board 29, a sensor magnet 38, and a motor control. The device 33 is provided.

The brushless motor 30 swings the

wiper arms

14 and 16 based on the control instruction of the motor control device 33.
For example, the brushless motor 30 is a three-phase four-pole brushless motor.
The brushless motor 30 includes a stator 21 and a rotor (rotor) 22.
The stator 21 is fixed to the inner circumference of the case 23. The stator 21 includes three-

phase armature coils

21u, 21v, 21w. The stator 21 is wound with

armature coils

21u, 21v, 21w. For example, the three-

phase armature coils

21u, 21v, 21w are connected by a delta connection connected at the neutral point at one end. However, the connection is not limited to the delta connection and may be a Y connection. Further, the brushless motor 30 is a motor in which each

armature coil

21u, 21v, 21w functions as both a positive electrode and a negative electrode.

For example, the rotor 22 is provided inside the stator 21. The rotor 22 includes a rotor shaft 22a and a four-pole permanent magnet 22b attached to the rotor shaft 22a. A plurality of bearings (not shown) are provided in the case 23, and the rotor shaft 22a is rotatably supported by the plurality of bearings.
As shown in FIG. 3, the rotor 22 has an inner rotor type structure arranged inside the stator 21, but may have an outer rotor type structure in which the rotor 22 is arranged outside the stator 21.

About half of the rotor shaft 22a in the length direction is arranged inside the case 23, and the other about half is arranged inside the frame 24.
A reduction mechanism 27 is formed on the outer periphery of a portion of the rotor shaft 22a arranged in the frame 24. The speed reduction mechanism 27 includes a worm 22c and a gear 25a.
The worm 22c is provided on the outer circumference of the rotor shaft 22a arranged in the frame 24. The gear 25a is formed on the outer periphery of the worm wheel 25 provided in the frame 24. The gear 25a is meshed with the worm 22c.

The worm wheel 25 is configured to rotate integrally with the output shaft 26. When transmitting the power of the rotor 22 to the output shaft 26, the speed reduction mechanism 27 lowers the rotation speed (output rotation speed) of the output shaft 26 to the rotation speed (input rotation speed) of the rotor 22. Further, in FIG. 2, a shaft hole (not shown) is provided in the upper portion of the frame 24. The end of the output shaft 26 opposite to the fixed end of the worm wheel 25 is exposed to the outside through the shaft hole of the frame 24. As shown in FIG. 1, a power transmission mechanism 20 is connected to a portion of the output shaft 26 exposed to the outside of the frame 24.

The opening 24a is provided in a portion of the frame 24 opposite to the shaft hole. The opening 24a is formed to attach the worm wheel 25 or the like inside the frame 24. The undercover 28 is provided so as to close the opening 24a. The undercover 28 has a tray shape.
The control board 29 is provided in a space surrounded by the undercover 28 and the frame 24. As shown in FIG. 2, for example, the control board 29 is attached to the undercover 28. The control board 29 is provided with a motor control device 33 that controls the brushless motor 30.

The sensor magnet 38 is provided at a position of the rotor shaft 22a arranged in the frame 24. The sensor magnet 38 rotates integrally with the rotor shaft 22a. The sensor magnet 38 is magnetized so that the north and south poles are alternately arranged along the circumferential direction of the rotor shaft 22a.

The motor control device 33 according to the present embodiment will be described below with reference to the drawings.
FIG. 4 is a diagram showing an example of a schematic configuration of the control system of the wiper device 12 in the present embodiment. The wiper device 12 includes a wiper switch 37, a rotation angle detection unit 39, a vehicle speed sensor 40, and a motor control device 33.

The wiper switch 37 is provided in the vehicle interior of the vehicle 10.
The wiper switch 37 is a switch that swings the

wiper arms

14 and 16.
The wiper switch 37 has a low-speed operation mode in which the

wiper arms

14 and 16 are operated at a low speed (for example, a preset speed), a high-speed operation mode in which the

wiper arms

14 and 16 are operated at a higher speed than the low-speed operation mode, and the

wiper arms

14 and 16. It is possible to switch to each mode of the stop mode for stopping the swing operation.

The wiper switch 37 is operated by the driver to output an operation signal indicating the operation to the motor control device 33. For example, the driver can switch the wiping speed of the

wiper arms

14 and 16 by operating the wiper switch 37 based on conditions such as the amount of rainfall and the amount of snowfall. When the amount of rainfall and the amount of snowfall are small, the driver can select a low-speed operation mode in which the

wiper arms

14 and 16 are operated at a predetermined low speed by operating the wiper switch 37. In this case, the wiper switch 37 outputs a low-speed operation mode signal indicating the low-speed operation mode to the motor control device 33 as an operation signal based on the operation of selecting the low-speed operation mode by the driver.

On the other hand, the driver can select a high-speed operation mode in which the wiper switches 37 are operated to operate the

wiper arms

14 and 16 at a speed higher than the above-mentioned low speed when the amount of rainfall or snowfall is large. In this case, the wiper switch 37 outputs the high-speed operation mode signal indicating the high-speed operation mode to the motor control device 33 as an operation signal based on the operation of selecting the high-speed operation mode by the driver.

Further, when the driver performs an operation to stop the swinging operation of the

wiper arms

14 and 16 with respect to the wiper switch 37, the wiper switch 37 uses the stop mode signal indicating the stop mode as an operation signal to the motor control device 33. Output to.

The vehicle speed sensor 40 is provided in the vehicle 10. The vehicle speed sensor 40 measures the traveling speed (hereinafter, referred to as “vehicle speed”) V of the vehicle 10. The vehicle speed sensor 40 outputs the measured vehicle speed V of the vehicle 10 to the motor control device 33.

The rotation angle detection unit 39 detects a signal corresponding to the rotation of the rotor 22. For example, the rotation angle detection unit 39 is provided with three Hall ICs and is provided at positions magnetically 120 degrees from each other with respect to the rotor shaft 22a. When the rotor 22 rotates, these three Hall ICs output pulse signals that are 120 degrees out of phase with each other to the motor control device 33. That is, the rotation angle detection unit 39 generates a pulse signal based on the change in the magnetic poles of the sensor magnet 38 as the rotor 22 rotates, and outputs the pulse signal to the motor control device 33.

The motor control device 33 includes an inverter 52 and a control unit 54.
The inverter 52 includes six switching elements 52a to 52f connected by a three-phase bridge, and diodes 53a to 53f connected in antiparallel between the collectors and emitters of the switching elements 52a to 52f. Each of the switching elements 52a to 52f is, for example, a FET (Field Effect Transistor) or an IGBT (Insulated Gate Bipolar Transistor). Each gate of the six bridge-connected switching elements 52a to 52f is connected to the control unit 54.

The drain or source (collector or emitter) of the switching elements 52a to 52f is connected to the delta-connected

armature coils

21u, 21v, 21w.
More specifically, the neutral point 55a, which is the connection point between the source of the switching element 52a and the drain of the switching element 52d, is connected to the connection point 21a of the armature coil 21w and the armature coil 21u. The neutral point 55b, which is the connection point between the source of the switching element 52b and the drain of the switching element 52e, is connected to the connection point 21b of the armature coil 21w and the armature coil 21v. The neutral point 55c, which is the connection point between the source of the switching element 52c and the drain of the switching element 52f, is connected to the connection point 21c of the armature coil 21v and the armature coil 21u.
As a result, the six switching elements 52a to 52f perform a switching operation based on the drive signal (gate signal) output from the control unit 54, and the power supply voltage of the DC power supply 51 applied to the inverter 52 is set to three phases. As an AC voltage of (U phase, V phase, W phase), it is supplied as an energization signal to the

armature coils

21u, 21v, 21w.

The control unit 54 determines the rotation position of the rotor 22 based on the pulse signal supplied from the rotation angle detection unit 39. Further, the control unit 54 detects the rotation speed of the rotor 22 based on the pulse signal. Then, the control unit 54 drives the brushless motor 30 in a sine wave in a low output mode in which the output of the brushless motor 30 is low.
That is, by outputting the first drive signal to the inverter 52, the control unit 54 energizes the

armature coils

21u, 21v, 21w by the sine wave (first energization signal) in which harmonics are superimposed on the sine wave. , The rotor 22 is rotationally driven. Here, in the present embodiment, the first drive signal corresponds to the first energization signal. That is, the control unit 54 outputs the first drive signal as an instruction signal for controlling the inverter 52. Then, the inverter 52 drives each of the three phases in a sine wave by the first energization signal based on the instruction signal (details will be described later with reference to FIG. 6).

On the other hand, the control unit 54 outputs the second drive signal to the inverter 52 in the high output mode in which the output is higher than the low output mode, so that the

armature coils

21u, 21v, 21w and the first energization signal are wide-angle trapezoidal. The rotor 22 is rotationally driven by energizing with a waved sine wave (second energization signal). Here, in the present embodiment, the second drive signal corresponds to the second energization signal. That is, the control unit 54 outputs the second drive signal as an instruction signal for controlling the inverter 52. Then, the inverter 52 drives each of the three phases in a sine wave by the second energization signal based on the instruction signal (details will be described later with reference to FIG. 7).

The control unit 54 in the present embodiment will be described below with reference to FIG.
FIG. 5 is a diagram showing an example of a schematic configuration of the control unit 54 in the present embodiment.
The control unit 54 includes a position detection unit 61, a load determination unit 62, a mode determination unit 63, and a drive control unit 64.

The position detection unit 61 detects the rotation position of the rotor 22 based on the pulse signal supplied from the rotation angle detection unit 39. The position detection unit 61 outputs the detected rotation position of the rotor 22 to the drive control unit 64.

The load determination unit 62 determines whether or not the vehicle speed V measured by the vehicle speed sensor 40 exceeds a preset predetermined value Vth. The load determination unit 62 determines that the load of the brushless motor 30 is a high load when the vehicle speed V measured by the vehicle speed sensor 40 exceeds a predetermined value Vth. When the load determination unit 62 determines that the load of the brushless motor 30 is a high load, the load determination unit 62 outputs a high load signal indicating the determination result to the mode determination unit 63. This is because when the vehicle speed V of the vehicle 10 increases, the air volume of the vehicle 10 to the windshield 11 increases, and the movement of the

wiper blades

17 and 18 that wipe the windshield 11 is hindered. In this case, the brushless motor 30 needs to swing the

wiper arms

14 and 16 at high output. Therefore, when the vehicle speed V exceeds the predetermined value Vth, the control unit 54 shifts from the low output mode to the high output mode to generate a large torque for the brushless motor 30, and the position detection unit 61 detects it. The rotation speed of the brushless motor 30 is increased by controlling the advance angle at a predetermined electric angle with reference to the rotation position of the rotor 22.

Further, the load determination unit 62 is a predetermined value calculated from a predetermined value of the rotation speed of the rotor 22 and the current value of the brushless motor 30 detected based on the pulse signal supplied from the rotation angle detection unit 39, or both. Determines whether or not exceeds a preset predetermined value. The load determination unit 62 has a predetermined value calculated from the rotation speed of the rotor 22 and / or the current value of the brushless motor 30 detected based on the pulse signal supplied from the rotation angle detection unit 39. When the preset value exceeds a preset value, it is determined that the load of the brushless motor 30 is high. When the load determination unit 62 determines that the load of the brushless motor 30 is a high load, the load determination unit 62 outputs a high load signal indicating the determination result to the mode determination unit 63. This is because changes in conditions such as changes in rainfall occur, resistance to movement of the

wiper blades

17 and 18 on the windshield 11 (wiping surface) of the vehicle 10 increases, and movement of the

wiper blades

17 and 18 is hindered. Is. In this case, the brushless motor 30 needs to swing the

wiper arms

14 and 16 at high output. Therefore, when the predetermined value calculated from the predetermined value of the rotation speed of the rotor 22 and / or the current value of the brushless motor 30 exceeds the preset predetermined value, the control unit 54 increases from the low output mode to the high value. By shifting to the output mode, a large torque is generated for the brushless motor 30, and the brushless motor is controlled at a predetermined electric angle based on the rotation position of the rotor 22 detected by the position detection unit 61. Increase the number of revolutions of 30.

The mode determination unit 63 determines whether the brushless motor 30 is driven in the low output mode, the high output mode, or the brushless motor 30 is stopped.
When the mode determination unit 63 acquires the low-speed operation mode signal from the wiper switch 37, it determines that the brushless motor 30 is driven in the low output mode, and outputs a low output mode signal indicating the low output mode to the drive control unit 64. ..
When the high-speed operation mode signal is acquired from the wiper switch 37, the mode determination unit 63 determines that the brushless motor 30 is driven in the high output mode, and outputs a high output mode signal indicating the high output mode to the drive control unit 64. .. Further, the mode determination unit 63 determines that the brushless motor 30 is driven in the high output mode when the high load signal is acquired from the load determination unit 62, and transmits the high output mode signal indicating the high output mode to the drive control unit 64. Output.

When the mode determination unit 63 acquires the stop mode signal from the wiper switch 37, the mode determination unit 63 determines to stop the drive of the brushless motor 30, and outputs a stop signal indicating the stop of the drive of the brushless motor 30 to the drive control unit 64. ..

The drive control unit 64 includes a first drive control unit 641 and a second drive control unit 642.
When the drive control unit 64 acquires the low output mode signal from the mode determination unit 63, the drive control unit 64 executes the third harmonic energization drive of the brushless motor 30 by the first drive control unit 641.
FIG. 6 is a timing chart showing the energization timings of the U, V, and W phases by the first drive control unit 641 in the present embodiment.
The angle from 0 ° to 360 ° shown on the horizontal axis of FIG. 6 is an electric angle representing an energization period within one cycle of the first energization signal. Further, FET_DUTY [%] shown on the vertical axis represents the duty of the applied voltage applied to each phase.
Here, as shown in FIG. 6, the first energization signal represents the applied voltage of each of the three phases in which the third harmonic is superimposed on the sine wave.
That is, in the first control mode, the inverter 52 is the first energization timing indicating the energization timing of each of the three phases in which the third harmonic is superimposed on the sine wave at the energization timing according to the rotation position of the rotor. It outputs a signal and drives each of the three phases of the brushless motor in a sine wave.
In the following description, the drive control for energizing the brushless motor 30 by the first energization signal may be referred to as a third harmonic energization drive.
In this way, the first drive control unit 641 outputs the first drive signal to the inverter 52 at the energization timing corresponding to the rotation position of the rotor 22 detected by the position detection unit 61, so that the first drive control unit 641 can contact the inverter 52. A first energization signal for driving the brushless motor 30 by energizing the third harmonic is generated.
As shown in FIG. 6, the first energization signal has a waveform in which a third harmonic is superimposed on a sine wave (hereinafter, referred to as a third harmonic superimposed wave). In the third harmonic superimposed wave, the duty (peak voltage) of the applied voltage at the peak of the waveform is about 100% (97 to 99%) in a certain section, and the duty of the applied voltage at the valley is about 0% (1 to 1 to). 3%). Further, in the first energization signal, the normal energization section in which only the duty of the applied voltage of the W phase is about 100% (97 to 99%) and the normal energization section in which only the duty of the applied voltage of the U phase is about 100%. In the section between and, the applied voltage of the U phase, the V phase and the W phase is less than the peak voltage (97 to 99%). Although not shown, there is also a normal energization section in which only the duty of the applied voltage of the V phase is about 100% (97 to 99%) during the energization period within one cycle of the first energization signal.

On the other hand, when the drive control unit 64 acquires the high output mode signal from the mode determination unit 63, the drive control unit 64 executes the wide-angle trapezoidal wave energization drive of the brushless motor 30 by the second drive control unit 642.
7A to 7D are timing charts showing the energization timings of the U, V, and W phases by the second drive control unit 642 in the present embodiment.
The angles from 0 ° to 360 ° shown on the horizontal axis of FIGS. 7A to 7D are electric angles representing the energization period within one cycle of the second energization signal. Further, FET_DUTY [%] shown on the vertical axis represents the duty of the applied voltage applied to each phase.
Here, as shown in FIGS. 7A to 7D, the second energization signal is the energization timing according to the rotation position of the rotor 22 (rotor), and only the duty of the applied voltage of the first phase out of the three phases is the duty. Between the normal energization section where the duty is 100% and the normal energization section where only the duty of the applied voltage of the second phase is 100%, the duty of the applied voltage of the first phase and the second phase is 100%. It is a signal including an overlap energization section which becomes a duty (described later with reference to FIGS. 7A to 7D).
For example, in the first energization signal shown in FIG. 6, the normal energization section in which the duty of the applied voltage of the W phase is about 100% and the normal energization section in which the duty of the applied voltage of the U phase shown in FIG. 6 is about 100%. In the section between and, in FIG. 6, the applied voltage of any of the three phases is less than about 100%. In the second energization signal, the section is set as an overlap energization section (voltage value overlapping section) in which the applied voltages of both the W phase and the U phase are also 100% duty. Further, as shown in FIG. 7, the overlap energization section is also set between the other phases (between the U phase and the V phase and between the V phase and the W phase). This makes it possible to generate a second energization signal from the first energization signal. It is also possible to generate a second drive signal corresponding to the second energization signal from the first drive signal corresponding to the first energization signal.
Here, the second energization signal will be described with reference to FIGS. 7A to 7D. 7A to 7D show waveforms when one section of the time-series continuous waveforms in the second energization signal is focused on.

As shown in FIG. 7A, in the second energization signal, only the energization section (normal energization section 711) in which only the duty of the applied voltage of the U phase of the three phases is 100% and the duty of the applied voltage of the V phase are 100. There is an energization section (overlap energization section 713) in which the duty of the applied voltage of the U phase and the V phase is 100% of the duty of the energization section (normal energization section 712).
Further, as shown in FIG. 7B, the second energization signal includes only the energization section (normal energization section 731) in which only the duty of the applied voltage of the V phase of the three phases is 100% and the duty of the applied voltage of the W phase. There is an energized section (overlapping energized section 733) in which both the duty of the applied voltage of the V phase and the W phase is 100% with the energized section (normal energized section 732) in which is 100%.
Further, as shown in FIG. 7C, the second energization signal includes only the energization section (normal energization section 751) in which only the duty of the applied voltage of the W phase of the three phases is 100% and the duty of the applied voltage of the U phase. There is an energized section (overlapping energized section 753) in which both the duty of the applied voltage of the W phase and the V phase is 100% between the energized section (normal energized section 752) in which is 100%.
In FIGS. 7A to 7C, the second energization signal is 100% only in the normal energization section in which only the duty of the applied voltage of the first phase of the three phases is 100% and the duty of the applied voltage of the second phase. It has been described that the signal includes an overlapping energization section in which the duty of the applied voltage of the first phase and the second phase is 100% of the duty of the normal energization section. In other words, in the second energization signal, only the duty of the applied voltage of the first phase of the three phases is 0%, and the duty of the applied voltage of the second phase is 0%. It can be said that the signal is provided with an overlapping energized section in which the duty of the applied voltage of the first phase and the second phase is both 0% between the energized section.
Specifically, as shown in FIG. 7D, the second energization signal is the energization section (normal energization section 701) in which only the duty of the applied voltage of the U phase is 0% of the three phases and the applied voltage of the V phase. There is an energization section (overlap energization section 703) in which the duty of the applied voltage of the U phase and the V phase is both 0% between the energization section (normal energization section 702) in which only the duty is 0%. Although not shown, in the second energization signal, only the energization section (normal energization section) in which only the duty of the applied voltage of the V phase is 0% and the duty of the applied voltage of the W phase are 0%. There is an energized section (overlap energized section) between the energized section (normal energized section) and the duty of the applied voltage of the V phase and the W phase is 0%. The second energization signal includes an energization section in which only the duty of the applied voltage of the W phase is 0% (normal energization section) and an energization section in which only the duty of the applied voltage of the U phase is 0% (normally). There is an energized section (overlapping energized section) between the energized section) and the duty of the applied voltage of the W phase and the U phase is 0%.
In the following description, the drive control for energizing the brushless motor 30 by the second energization signal may be referred to as a wide-angle trapezoidal wave energization drive.
In this way, the second drive control unit 642 outputs the second drive signal to the inverter 52 at the energization timing corresponding to the rotation position of the rotor 22 detected by the position detection unit 61, so that the second drive control unit 642 can transmit the second drive signal to the inverter 52. A second energization signal for driving the brushless motor 30 with a wide-angle trapezoidal wave energization is generated.

Further, in the high output mode, driving the brushless motor 30 with a wide-angle trapezoidal wave energization significantly improves the output characteristics of the motor as compared with driving the brushless motor 30 with a third harmonic energization in the low output mode. This is because (hereinafter referred to as purpose 1). Further, in the high output mode, driving the brushless motor 30 with a wide-angle trapezoidal wave energization is different from driving the brushless motor 30 with a rectangular wave (wide-angle energization drive in Patent Documents 1 and 2) in the high output mode. This is because it is possible to suppress the operating noise (hereinafter referred to as the purpose 2).

Hereinafter, the reason why the brushless motor 30 is driven by the wide-angle trapezoidal wave energization in the high output mode in order to achieve the

objectives

1 and 2 will be described with reference to FIG.
FIG. 8 is a diagram for explaining the principle of improving the output characteristics of the motor by providing the overlap energization section in the second energization signal. The resistor RW, resistor RU, and resistor RV shown in FIG. 8 are circuits composed of switching elements 52a to 52f of the inverter 52 and three-

phase armature coils

21u, 21v, and 21w, respectively (referred to as a resistor circuit). It shall indicate the reference resistance in. Further, the size of the arrow shown in FIG. 8 is proportional to the size of the value of the current applied to each phase.

FIG. 8A is a circuit diagram in an energized state near an electric angle of 180 ° in FIG. 7D (reference numeral 800a in FIG. 7D). In the vicinity of the energization angle of 180 °, the duty of the W phase applied voltage is 100% at the connection point 21a, the duty of the V phase applied voltage is 0% at the connection point 21b, and the duty of the U phase applied voltage is at the connection point 21c. It is energized at 50%.
As shown in FIG. 8A, when driving in the normal energization section (three-phase energization) in the high output mode, all three phases are energized, so that the resistance Ra between terminals in the resistance circuit is the resistance RW (resistance). Since the value R) and the series resistance (resistance value 2R) of the resistor RU and the resistor RV are arranged in parallel, Ra = 2R / 3 according to the following equation.
Ra = R × 2R / (R + 2R) = (2/3) R
The resistance Ra between terminals in the resistance circuit means a resistance value between the positive electrode terminal and the negative electrode terminal of the DC power supply 51 shown in FIG.
Here, comparing the magnitude of the current flowing through the resistor RW and the current flowing through the series resistance of the resistor RU and the resistor RV, the current flowing through the resistor RW is the series resistance of the resistor RU and the resistor RV. It is larger than the flowing current.

FIG. 8B is a circuit diagram in an energized state in the vicinity of an electric angle of 210 ° in FIG. 7A (reference numeral 800b in FIG. 7A).
On the other hand, as shown in FIG. 8B, when driving in the overlap energization section (two-phase energization) in the high output mode, the two phases are energized, so that the resistance Rb between terminals in the resistance circuit becomes Since the resistance RW (resistance value R) and the resistance RU (resistance value R) are arranged in parallel, Rb = R / 2 according to the following equation.
Rb = R × R / (R + R) = (1/2) R
The inter-terminal resistance Rb in the resistance circuit means a resistance value between the positive electrode terminal and the negative electrode terminal of the DC power supply 51 shown in FIG.
Here, a current flows through the resistor RW and the resistor RV, but almost no current flows through the resistor RU. In other words, an applied voltage of 100% duty is applied to the connection point 21a and the connection point 21c, and an applied voltage of 0% duty is applied to the connection point 21b. Therefore, the connection point 21a and the connection point 21c have the same potential, and no current flows between the connection point 21a and the connection point 21c. Further, the potential difference between the connection point 21a and the connection point 21b and the potential difference between the connection point 21c and the connection point 21b become equal, and the current flowing between the connection point 21a and the connection point 21b and the connection point The current flowing between the 21c and the connection point 21b becomes equal. As a result, the magnitude of the current flowing through the resistor RW and the magnitude of the current flowing through the resistor RV are almost the same, but the current hardly flows through the resistor RU, and the brushless motor 30 affects the resistance value of the resistor RU. I will not receive it.

In this way, by switching to the overlap energization section, the circuit to be energized changes from 3 phase to 2 phase, and the resistance calculation result changes from 2R / 3 to R / 2, so that the motor internal resistance is changed to (2R / 3). -R / 2) / (2R / 3) = 1/4 = 25% can be reduced.
That is, by lowering the internal resistance of the motor, the output characteristics of the motor are improved due to the effect of reducing copper loss.

FIG. 9 is a diagram showing the motor characteristics of the brushless motor 30 in the third harmonic energization drive and the wide-angle trapezoidal wave energization drive in the present embodiment.
In FIG. 9, L1 shows the motor characteristics of the third harmonic energization drive. Further, H1 shows the motor characteristics of the wide-angle trapezoidal wave energization drive. Further, H1S shows the motor characteristics of a wide-angle trapezoidal wave + "advance angle> 0 °" energized drive. Here, the wide-angle trapezoidal wave + "advance angle> 0 °" energization drive outputs a second energization signal at an energization timing in which a predetermined electric angle is advanced with reference to the rotation position of the rotor 22, and the brushless motor Wide-angle trapezoidal wave energization drive that drives each of the three phases with a sine wave.
Further, the region indicated by the output characteristic L indicates the motor characteristics in the one-wiping cycle required in the low-speed operation mode at a low vehicle speed. Further, the region indicated by the output characteristic H indicates the motor characteristics in the one-wiping cycle required for the high-speed operation mode during high-speed running.
As shown in FIG. 9, the drive control unit 64 can satisfy the motor characteristics in the one-wiping cycle required in the low-speed operation mode by performing the third-order harmonic energization drive in the low output mode.
Further, the drive control unit 64 executes wide-angle trapezoidal wave energization drive when the mode shifts from the low output mode to the high output mode. That is, the drive control unit 64 reduces the rotation speed of the brushless motor 30 by the wide-angle trapezoidal wave energization drive and the wide-angle trapezoidal wave + "advance angle> 0 °" energization drive as compared with the third harmonic energization drive in the low output mode. In addition to increasing the torque, it is possible to prevent a decrease in torque due to an increase in the number of revolutions and generate a high torque. That is, it can be said that the above object 1 has been achieved. Further, the drive control unit 64 satisfies the motor characteristics in the one-wiping cycle required in the high-speed operation mode by performing wide-angle trapezoidal wave energization drive or wide-angle trapezoidal wave + "advance angle> 0 °" energization drive. be able to.

10 and 11 are diagrams showing the characteristics of the operating noise of the brushless motor 30 in the drive control used in the low output mode or the high output mode.
FIG. 10 shows that the drive control of the brushless motor 30 is performed by the following six drive controls (1st to 6th drive controls) in the low (Lo) output mode or the high (Hi) output mode to obtain the rotation frequency of the rotor 22. The corresponding operating sound is FFT (Fast) in the frequency band (0 to 15 KHz).
Fourier Transform) It shows the A (Over All) value. Here, O. The A value is a value used when simply evaluating whether the sound is noisy or quiet without paying attention to the frequency characteristics.
Further, FIG. 11 shows that the drive control of the brushless motor 30 is performed by the following six drive controls (first to sixth drive controls) in the low output mode or the high output mode, and the operating sound corresponding to the rotation frequency of the rotor 22. The magnetic sound is measured when the rotation frequency of the rotor 22 is 530 Hz to 590 Hz (Lo output mode) or when the rotation frequency is 790 Hz to 850 Hz (Hi output mode).

(1st drive control)
The first drive control is a drive control performed by a rectangular wave drive in the low output mode, and corresponds to the rectangular wave drive of Patent Document 1.
(Second drive control)
The second drive control is a drive control performed by a third harmonic drive (sine wave drive) in the low output mode, and is supported by Patent Document 2 and the sine wave drive of the present embodiment.
(Third drive control)
The third drive control is a drive control performed by rectangular wave energization (wide-angle energization) in the high output mode, and corresponds to the rectangular wave drive of Patent Document 2.
(4th drive control)
The fourth drive control is a drive control performed by a wide-angle trapezoidal wave energization drive (sine wave drive) in the high output mode, and corresponds to the sine wave drive of the present embodiment.
(Fifth drive control)
The fifth drive control is a drive control performed by a wide-angle trapezoidal wave + energization drive (sine wave drive) of "advance angle 10 °" in the high output mode, and corresponds to the sine wave drive of the present embodiment.
(6th drive control)
The sixth drive control is a drive control performed by a wide-angle trapezoidal wave + energization drive (sine wave drive) of "advance angle 30 °" in the high output mode, and corresponds to the sine wave drive of the present embodiment.

As shown in FIGS. 10 and 11, in the low output mode, O.D. It can be seen that both the A value and the magnetic sound are suppressed in the second drive control than in the first drive control.
Further, in the high output mode, it can be seen that the operating noise is suppressed in the 4th to 6th drive controls rather than the 3rd drive control.
That is, the sound pressure difference between the operating sound of the brushless motor in the low-speed operation mode and the operating sound of the brushless motor in the high-speed operation mode is large, and the sound pressure of the brushless motor in the high-speed operation mode is the same as in Patent Document 2. The problem of "extremely high sound pressure compared to the sound pressure of a brushless motor in low-speed operation mode" has been solved. That is, in the present embodiment, the drive control is performed by the wide-angle trapezoidal wave energization drive in the high output mode, and the drive control is performed by the square wave energization (wide-angle energization) in the high output mode (square wave energization of Patent Document 2). (Wide-angle energization)), the operating noise can be suppressed. That is, it can be said that the above object 2 has been achieved.

When the drive control unit 64 acquires a stop signal from the mode determination unit 63, the drive control unit 64 stops the drive of the brushless motor 30 by the first drive control unit 641 or the second drive control unit 642. That is, when the drive control unit 64 acquires the stop signal from the mode determination unit 63, the drive control unit 64 stops the drive of the brushless motor 30 and stops the swinging operation of the

wiper arms

14 and 16.

Next, a method in which the inverter 52 generates a second energization signal in the high output mode will be described. In the following description, the duty of the applied voltage applied from the inverter 52 to each phase of the

armature coils

21u, 21v, 21w is set to FET_Duty [%], and the control unit 54 (second drive control unit 642) applies to the inverter 52. The duty indicated by the command value of the applied voltage applied to each phase by the inverter 52 included in the output instruction signal is expressed as Software_Duty [%].
As described above, in the low output mode, the motor control device 33 has a FET_Duty of about 100% at the peak of the third harmonic superimposed wave and a FET_Duty of about 0% at the valley, as shown in FIG. It is set.
As shown in FIGS. 7A to 7D, in the high output mode, the second energization signal is a wide-angle trapezoidal wave. That is, in the second energization signal, in the waveform in which the amplitude of the first energization signal is changed to a value larger than 50% in FET_Duty, the energization section in which FET_Duty is 100% or more has FET_Duty of 100% and FET_Duty. The energized section of 0% or less is a waveform with FET_Duty set to 0%.
In other words, in the high output mode, the motor control device 33 has a FET_Duty value larger than 100% in the peak of the third harmonic superimposed wave (for example, a duty exceeding 100% and a range of up to about 130%). The duty is set to be less than 0% in the valley (for example, the duty is less than 0% and any duty in the range up to about -30%). .. Actually, the maximum value of the applied voltage that can be physically output by the inverter 52 is the applied voltage corresponding to FET_Duty = 100%, and the minimum value is the applied voltage corresponding to FET_Duty = 0%. Therefore, the inverter 52 outputs the applied voltage corresponding to FET_Duty = 100% in the energized section in which FET_Duty is set to a value larger than 100%. Further, the inverter 52 outputs an applied voltage corresponding to FET_Duty = 0% in the energized section in which FET_Duty is set to a value less than 0%. As a result, a section in which the applied voltage becomes a constant value is generated in the vicinity of the peaks and valleys of the third harmonic superimposed wave, and a wide-angle trapezoidal wave can be generated.
This will be described with reference to FIGS. 12 and 13.

FIG. 12 is a timing chart showing the energization timings of the U, V, and W phases by the second drive control unit 642 in the present embodiment. FIG. 13 is a timing chart showing variations of the software (software) in the present embodiment.
The angles from 0 ° to 360 ° shown on the horizontal axes of FIGS. 12 and 13 are electric angles representing the energization period within one cycle of the second energization signal as in FIGS. 7A to 7D. The first vertical axis (the vertical axis on the left side in the figure) represents FET_Duty [%]. The second vertical axis (vertical axis on the right side in the figure) represents software_Duty [%].

Here, FIG. 12 is recognized by the software (software) used when the inverter 52 performs the control operation by the command of the control unit 54 and the FET that applies the applied voltage to each of the U, V, and W phases. An example is shown when the scales are different. When software_Duty [%] = 80 to 100%, FET_Duty [%] = 100 to 130%, but the apparent FET_Duty [%] (duty of the applied voltage actually applied to each phase) is It is 100% as shown by the thick line in FIG.
Further, FIG. 13 shows an example in which the software (software) used when the inverter 52 performs the control operation by the command of the control unit 54 is capable of outputting 100% or more of the duty. When software_Duty [%] = 100 to 130%, FET_Duty [%] = 100 to 130%, but the apparent FET_Duty [%] (duty of the applied voltage actually applied to each phase) is As shown by the thick line in FIG. 13, it is 100%.

The processing flow of the control unit 54 in the present embodiment will be described below with reference to FIGS. 14 and 15. FIG. 14 is a diagram illustrating a processing flow of the control unit 54 in the present embodiment. FIG. 15 is a diagram illustrating a modified example of FIG. 14 in the present embodiment.
The control unit 54 determines whether or not the wiper switch 37 has been operated by the driver on the low-speed operation side (step S101). For example, when the control unit 54 acquires the low-speed operation mode signal from the wiper switch 37, the control unit 54 determines that the wiper switch 37 has been operated to the low-speed operation side. When the wiper switch 37 is operated to the low-speed operation side by the driver, the control unit 54 drives the brushless motor 30 to energize the third harmonic (step S102).

On the other hand, when the wiper switch 37 is not operated by the driver on the low speed operation side, the control unit 54 determines whether or not the wiper switch 37 is operated on the high speed operation side (step S103). For example, when the control unit 54 acquires the high-speed operation mode signal from the wiper switch 37, the control unit 54 determines that the wiper switch 37 has been operated to the high-speed operation side. The control unit 54 drives the brushless motor 30 with a wide-angle trapezoidal wave energization when the wiper switch 37 is operated to the high-speed operation side by the driver (step S104).

Further, the processing flow of the control unit 54 in the present embodiment shown in FIG. 14 may be the processing flow of the control unit 54 shown in FIG.
The control unit 54 determines whether or not the wiper switch 37 has been operated by the driver on the low-speed operation side (step S201). For example, when the control unit 54 acquires the low-speed operation mode signal from the wiper switch 37, the control unit 54 determines that the wiper switch 37 has been operated to the low-speed operation side. The control unit 54 determines whether or not the high output mode is necessary when the wiper switch 37 is operated to the low speed operation side by the driver (step S202). When the control unit 54 determines that the high output mode is not necessary, the control unit 54 drives the brushless motor 30 to energize the third harmonic (step S203).

On the other hand, when the wiper switch 37 is not operated by the driver on the low speed operation side, the control unit 54 determines whether or not the wiper switch 37 is operated on the high speed operation side (step S204). For example, when the control unit 54 acquires the high-speed operation mode signal from the wiper switch 37, the control unit 54 determines that the wiper switch 37 has been operated to the high-speed operation side. The control unit 54 determines whether or not the high output mode is necessary when the wiper switch 37 is operated by the driver to the high-speed operation side (step S205). When the control unit 54 determines that the high output mode is necessary, the control unit 54 drives the brushless motor 30 by energizing a wide-angle trapezoidal wave (step S206).

Further, when the control unit 54 determines that the wiper switch 37 has been operated to the low speed operation side in the process of step S201 and determines that the high output mode is necessary in the process of step S202, the control unit 54 causes the brushless motor 30 to have a wide-angle trapezoidal wave. Energized drive. Further, when the control unit 54 determines that the wiper switch 37 has been operated to the high-speed operation side in the process of step S204 and determines that the high output mode is not required in the process of step S205, the brushless motor 30 is tertiary. Harmonic energization drive.

With such a configuration, the control unit 54 can appropriately switch between the low output mode and the high output mode regardless of whether the wiper switch 37 is on the low speed operation side or the high speed operation side. This makes it possible to respond to changes in the external environment such as changes in rainfall and changes in the conditions on the windshield 11 (wiping surface) due to changes in vehicle speed.

As described above, in the present embodiment, the motor control device 33 drives the brushless motor 30 to energize the third harmonic in the low output mode in which the output of the brushless motor 30 is low, and the output is higher than the low output mode in the high output mode. The brushless motor 30 is energized by a wide-angle trapezoidal wave energization drive. As described above, the motor control device 33 is driven by the third harmonic energization drive in the frequently used low-speed operation mode, so that the operation noise is more efficient than the rectangular wave energization control described in Patent Document 1. It can be reduced (see FIG. 11).
Further, in the high-speed operation mode in which high characteristics are required, the motor control device 33 is driven by wide-angle trapezoidal wave energization to further improve the motor characteristics as compared with the sine wave drive in the low-speed operation mode, and is required in the high-speed operation mode. The motor characteristics to be achieved can be satisfied (see FIG. 9). Further, as compared with the rectangular wave energization control (wide-angle energization drive) described in Patent Document 2, it is possible to efficiently reduce the operating noise (see FIG. 11).

In the above embodiment, the motor unit 19 including the brushless motor 30 which is a brushless wiper motor for swinging the wiper arm and the motor control device 33 has been described. It may be a motor unit composed of the following brushless motor and motor control device.
(Sunroof motor unit)
A brushless motor, which is a brushless sunroof motor that opens and closes the roof panel provided on the roof of the vehicle, and a motor control to which the switching control in the present embodiment is applied according to when the vehicle is stopped (low load) and when the vehicle is running (high load). A sunroof motor unit consisting of a device.
(Power seat motor unit)
The brushless motor, which is a brushless power seat motor that drives the vehicle seat, and the fine adjustment of the seat position (seat position, angle adjustment) perform energization drive by the first energization signal (applied voltage), and the seat position is significantly changed (seat position, angle adjustment). When boarding the rear seat or preventing the submarine effect in the event of a vehicle collision), a power seat consisting of a motor control device that performs energization drive by a second energization signal (applied voltage) and controls switching between both energizations. Motor unit.
(Fan motor unit)
A brushless motor, which is a brushless fan motor used as a drive source for a radiator cooling device of a vehicle, and a brushless motor, which corresponds to variable speed, are driven by a first energization signal and a second energization signal to control switching between both energizations. A fan motor unit consisting of a motor control device to perform.
(Power slide door motor unit)
A brushless power slide door motor used as an electric motor for opening and closing the sliding door of a vehicle, and a motor control device that performs energization drive by a first energization signal and a second energization signal and controls switching between both energizations. Power slide door motor unit composed of.

Here, a modified example of the processing flow of the control unit 54 when the above-mentioned motor unit 19 is applied to the sunroof unit will be described with reference to FIGS. 16 to 20. Although the description of the schematic configuration diagram regarding the configuration for controlling the sunroof is omitted here, it corresponds to the one in which the "wiper switch 37" in FIGS. 4 and 5 is replaced with the "sunroof operator". The sunroof unit includes a sunroof and a sunroof operator that opens and closes the sunroof. The control unit 54 acquires an operation signal corresponding to the operation of the sunroof operator from the sunroof operator, and opens and closes the sunroof according to the acquired operation signal. The sunroof operator may be, for example, a switch that specifies which operation of opening / closing is performed, or an operation panel such as a touch panel.

FIG. 16 is a diagram illustrating a modified example of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit.
For example, when the sunroof operator is operated by the driver, the control unit 54 acquires an operation signal from the sunroof operator, and the acquired operation signal is an operation signal for performing a tilt-up operation or an operation signal for performing a close operation. Whether or not it is determined (step S301).

When the operation signal is an operation signal for performing a tilt-up operation or an operation signal for performing a close operation (step S301-YES), the control unit 54 drives the brushless motor 30 with a wide-angle trapezoidal wave energization for the tilt-up operation or the close operation. (Step S302). As a result, when the operation signal indicates a tilt-up operation, the motor unit 19 is driven by a wide-angle trapezoidal wave energization to perform the tilt-up operation. When the operation signal indicates a close operation, the motor unit 19 is driven by a wide-angle trapezoidal wave energization to perform the close operation. The tilt-up operation is, for example, an operation in which the sunroof is tilted upward to open, and the closing operation is an operation in which the sunroof is closed.

On the other hand, in step S301, when the operation signal is not an operation signal for performing a tilt-up operation or an operation signal for performing a close operation (step S301-NO), the control unit 54 determines that the operation signal is an operation signal for performing a tilt-down operation or open. It is determined whether the operation signal is to be operated (step S303).
When the operation signal is an operation signal for performing a tilt-down operation or an operation signal for performing an open operation (step S303-YES), the control unit 54 performs a tilt-down operation or an open operation to drive the motor unit 19 to a third harmonic energization. (Step S304). As a result, when the operation signal indicates a tilt-down operation, the control unit 54 performs the tilt-down operation by driving the motor unit 19 to energize the third harmonic. When the operation signal indicates an open operation, the control unit 54 performs an open operation by driving the motor unit 19 with a third harmonic energization. The tilt-down operation is an operation of closing the sunroof by returning the tilt of the tilted-up sunroof to its original position, and an open operation is an operation of opening the sunroof by moving it to a fully open position.

On the other hand, in step S303, when the operation signal is not the operation signal for tilting down operation or the operation signal for opening operation (step S303-NO), the control unit 54 has made an unexpected operation input, such as failure or emergency. It is determined that the drive is stopped or the like, and the drive is stopped (step S305).
As described above, the control unit 54 performs the wide-angle trapezoidal wave energization drive in the tilt-up operation or the close operation, and performs the third harmonic energization drive in the tilt-down operation or the open operation. As a result, when the vehicle is running, it is difficult to tilt down or close the sunroof due to wind pressure when performing the tilt-up operation or the closing operation, as compared with the case where the tilt-down operation or the opening operation is performed. By performing the wide-angle trapezoidal wave energization drive, the motor unit 19 can be smoothly operated even in such a situation.

FIG. 17 is a diagram illustrating a modified example of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit.
When the sunroof operator is operated by the driver, the control unit 54 acquires an operation signal from the sunroof operator, and whether the acquired operation signal is an operation signal for tilting up operation or an operation signal for closing operation. It is determined whether or not (step S311).

When the operation signal is an operation signal for performing a tilt-up operation or an operation signal for performing a close operation (step S311-YES), the control unit 54 drives the brushless motor 30 with a wide-angle trapezoidal wave energization for the tilt-up operation or the close operation. (Step S312). As a result, when the operation signal indicates a tilt-up operation, the control unit 54 performs the tilt-up operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization. When the operation signal indicates a close operation, the motor unit 19 is driven by a wide-angle trapezoidal wave energization to perform the close operation.
On the other hand, in step S311 when the operation signal is not an operation signal for performing a tilt-up operation or an operation signal for performing a close operation (step S311-NO), the control unit 54 performs an operation according to the operation content to the motor unit 19. This is executed by driving the third harmonic energization (step S314). Here, there are only four types of operation contents, "tilt up", "close", "chilled down", and "open", and when accepting any operation input among them, it is determined as NO in step S311. If this is the case, either "tilt down" or "open" operation may be executed. Therefore, the control unit 54 can perform a tilt-down operation or an open operation by performing a third-order harmonic energization drive when the operation is determined to be NO in step S311.

FIG. 18 is a diagram illustrating a modified example of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit.
When the sunroof operator is operated by the driver, the control unit 54 acquires an operation signal from the sunroof operator, and whether the acquired operation signal is an operation signal for tilting up operation or an operation signal for closing operation. It is determined whether or not (step S321).

When the operation signal is an operation signal for tilting up operation or an operation signal for closing operation (step S321-YES), the control unit 54 detects the vehicle speed or the load of the brushless motor 30 of the motor unit 19, and uses the detection result as a result. Based on this, it is determined whether or not the high output mode is required (step S322). In this determination, for example, it is determined whether or not the vehicle speed exceeds the vehicle speed reference value, or whether or not the load of the brushless motor 30 exceeds the load reference value. This determination may be made based on only one of them. The vehicle speed reference value and the load reference value may be stored in advance in a storage device inside or outside the control unit 54, and may be referred to.

The control unit 54 determines that the high output mode is necessary when the vehicle speed exceeds the vehicle speed reference value, or when the load of the brushless motor 30 exceeds the load reference value (step S322-YES), and tilts. The up operation or the close operation is executed by driving the brushless motor 30 with a wide-angle trapezoidal wave energization (step S322). As a result, when the operation signal indicates a tilt-up operation, the control unit 54 performs the tilt-up operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization. When the operation signal indicates a close operation, the motor unit 19 is driven by a wide-angle trapezoidal wave energization to perform the close operation.

On the other hand, the control unit 54 determines that the high output mode is not necessary when the vehicle speed does not exceed the vehicle speed reference value or when the load of the brushless motor 30 does not exceed the load reference value (step S322-NO). , The tilt-up operation or the close operation is executed by driving the brushless motor 30 to energize the third harmonic (step S326). As a result, when the operation signal indicates a tilt-up operation, the control unit 54 performs the tilt-up operation by driving the motor unit 19 to energize the third harmonic. When the operation signal indicates a close operation, the motor unit 19 is driven to energize the third harmonic to perform the close operation. As a result, even in the tilt-up operation and the close operation, if it is not necessary to be in the high output mode, it can be driven by the third harmonic energization drive.

On the other hand, in step S321, when the operation signal is not an operation signal for performing a tilt-up operation or an operation signal for performing a close operation (step S321-NO), the control unit 54 determines that the operation signal is an operation signal for performing a tilt-down operation or open. It is determined whether the operation signal is to be operated (step S324).
When the operation signal is an operation signal for tilting down operation or an operation signal for performing open operation (step S324-YES), the vehicle speed or the load of the brushless motor 30 of the motor unit 19 is detected, and a high output is obtained based on the detection result. It is determined whether or not the mode is in a required state (step S325).

The control unit 54 determines that the high output mode is necessary when the vehicle speed exceeds the vehicle speed reference value, or when the load of the brushless motor 30 exceeds the load reference value (step S325-YES), and tilts. The down operation or the open operation is executed by driving the brushless motor 30 with a wide-angle trapezoidal wave energization (step S323). As a result, when the operation signal indicates a tilt-down operation, the control unit 54 performs the tilt-down operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization. When the operation signal indicates an open operation, the motor unit 19 is driven by a wide-angle trapezoidal wave energization to perform the open operation.

On the other hand, the control unit 54 determines that the high output mode is not necessary when the vehicle speed does not exceed the vehicle speed reference value or when the load of the brushless motor 30 does not exceed the load reference value (step S325-NO). , The control unit 54 executes the tilt-down operation or the open operation by driving the motor unit 19 to energize the third harmonic (step S326). As a result, when the operation signal indicates a tilt-down operation, the control unit 54 performs the tilt-down operation by driving the motor unit 19 to energize the third harmonic. When the operation signal indicates an open operation, the control unit 54 performs an open operation by driving the motor unit 19 with a third harmonic energization.

On the other hand, in step S324, when the operation signal is not an operation signal for performing a tilt-down operation or an operation signal for performing an open operation (step S324-NO), the control unit 54 has made an unexpected operation input, such as a failure or an emergency. It is determined that the drive is stopped or the like, and the drive is stopped (step S325).
As described above, the control unit 54 can drive the motor unit 19 by the third harmonic energization drive if the high output mode is not required even when the tilt-up operation or the close operation is performed. Further, the control unit 54 can perform wide-angle trapezoidal wave energization drive if a high output mode is required even in the tilt-down operation or the open operation.

FIG. 19 is a diagram illustrating a modified example of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit.
When the sunroof operator is operated by the driver, the control unit 54 acquires an operation signal from the sunroof operator, and whether the acquired operation signal is an operation signal for tilting up operation or an operation signal for closing operation. It is determined whether or not (step S331).

When the operation signal is an operation signal for tilting up operation or an operation signal for closing operation (step S331-YES), the control unit 54 detects the vehicle speed or the load of the brushless motor 30 of the motor unit 19, and uses the detection result as a result. Based on this, it is determined whether or not the high output mode is required (step S332). In this determination, for example, it is determined whether or not the vehicle speed exceeds the vehicle speed reference value, or whether or not the load of the brushless motor 30 exceeds the load reference value. This determination may be made based on only one of them. The vehicle speed reference value and the load reference value may be stored in advance in a storage device inside or outside the control unit 54, and may be referred to.

The control unit 54 determines that the high output mode is necessary when the vehicle speed exceeds the vehicle speed reference value, or when the load of the brushless motor 30 exceeds the load reference value (step S332-YES), and tilts. The up operation or the close operation is executed by driving the brushless motor 30 with a wide-angle trapezoidal wave energization (step S333). As a result, when the operation signal indicates a tilt-up operation, the control unit 54 performs the tilt-up operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization. When the operation signal indicates a close operation, the motor unit 19 is driven by a wide-angle trapezoidal wave energization to perform the close operation.

On the other hand, the control unit 54 determines that the high output mode is not necessary when the vehicle speed does not exceed the vehicle speed reference value or when the load of the brushless motor 30 does not exceed the load reference value (step S332-NO). , The tilt-up operation or the close operation is executed by driving the brushless motor 30 to energize the third harmonic (step S335). As a result, when the operation signal indicates a tilt-up operation, the control unit 54 performs the tilt-up operation by driving the motor unit 19 to energize the third harmonic. When the operation signal indicates a close operation, the motor unit 19 is driven to energize the third harmonic to perform the close operation. As a result, even in the tilt-up operation and the close operation, if it is not necessary to be in the high output mode, it can be driven by the third harmonic energization drive.

On the other hand, in step S331, when the operation signal is not an operation signal for tilting up operation or an operation signal for closing operation (step S331-NO), the control unit 54 applies the vehicle speed or the load of the brushless motor 30 of the motor unit 19. It is detected, and based on the detection result, it is determined whether or not the high output mode is required (step S334). The control unit 54 determines that the high output mode is necessary when the vehicle speed exceeds the vehicle speed reference value, or when the load of the brushless motor 30 exceeds the load reference value (step S334-YES), and tilts. The down operation or the open operation is executed by driving the brushless motor 30 with a wide-angle trapezoidal wave energization (step S333). As a result, when the operation signal indicates a tilt-down operation, the control unit 54 performs the tilt-down operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization. When the operation signal indicates an open operation, the control unit 54 performs an open operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization.

On the other hand, the control unit 54 determines that the high output mode is not necessary when the vehicle speed does not exceed the vehicle speed reference value or when the load of the brushless motor 30 does not exceed the load reference value (step S334-NO). , The control unit 54 executes the tilt-down operation or the open operation by driving the motor unit 19 to energize the third harmonic (step S326). As a result, when the operation signal indicates a tilt-down operation, the control unit 54 performs the tilt-down operation by driving the motor unit 19 to energize the third harmonic. When the operation signal indicates an open operation, the control unit 54 performs an open operation by driving the motor unit 19 with a third harmonic energization.
According to this modification, when the control unit 54 determines NO in step S331, it is not necessary to perform the determination step as to whether it is the tilt-down operation or the open operation shown in step S324 of FIG.

FIG. 20 is a diagram illustrating a modified example of the processing flow of the control unit 54 when the motor unit 19 is applied to the sunroof unit.
When the sunroof operator is operated by the driver, the control unit 54 acquires an operation signal from the sunroof operator, detects the vehicle speed or the load of the brushless motor 30 of the motor unit 19, and outputs a high output based on the detection result. It is determined whether or not the mode is in a required state (step S341). In this determination, for example, it is determined whether or not the vehicle speed exceeds the vehicle speed reference value, or whether or not the load of the brushless motor 30 exceeds the load reference value. This determination may be made based on only one of them. The vehicle speed reference value and the load reference value may be stored in advance in a storage device inside or outside the control unit 54, and may be referred to.

The control unit 54 determines that the high output mode is necessary when the vehicle speed exceeds the vehicle speed reference value, or when the load of the brushless motor 30 exceeds the load reference value (step S341-YES), and operates. The operation corresponding to the signal is executed by driving the brushless motor 30 with a wide-angle trapezoidal wave energization (step S342). As a result, when the operation signal indicates a tilt-up operation, the control unit 54 performs a tilt-up operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization, and when the operation signal indicates a close operation, the motor unit 19 Is driven by a wide-angle trapezoidal wave energization to perform a closing operation. Further, when the operation signal indicates a tilt-down operation, the control unit 54 performs a tilt-down operation by driving the motor unit 19 with a wide-angle trapezoidal wave energization, and when the operation signal indicates an open operation, the motor unit 19 Is driven by a wide-angle trapezoidal wave energization to perform open operation.

On the other hand, the control unit 54 determines that the high output mode is not necessary when the vehicle speed does not exceed the vehicle speed reference value or when the load of the brushless motor 30 does not exceed the load reference value (step S341-NO). , The operation according to the operation signal is executed by driving the brushless motor 30 to energize the third harmonic (step S343). As a result, when the operation signal indicates a tilt-up operation, the control unit 54 performs a tilt-up operation by driving the motor unit 19 by energizing the third harmonic, and when the operation signal indicates a close operation, the motor unit The closing operation is performed by driving 19 with a third harmonic energization. Further, when the operation signal indicates a tilt-down operation, the control unit 54 performs a tilt-down operation by driving the motor unit 19 to energize the third harmonic, and when the operation signal indicates an open operation, the motor unit 54 performs a tilt-down operation. The open operation is performed by driving 19 with a third harmonic energization.

According to this modification, the control unit 54 energizes the wide-angle trapezoidal wave based on the determination result of whether or not the high output mode is required, not the type of the operation content in which the sunroof operator is operated by the driver. It is possible to decide whether to perform the drive or the third harmonic energization drive. On top of that, the sunroof can be controlled according to the operation content.

21A to 21C are diagrams showing the results of experiments on the operation of the motor unit 19.
The angles from 0 ° to 360 ° shown on the horizontal axis of FIGS. 21A to 21C are electric angles representing the energization period within one cycle of the second energization signal. Further, FET_Duty [%] shown on the vertical axis represents the applied voltage applied to each phase.
FIG. 21A is a timing chart showing the energization timings of the U, V, and W phases by the second drive control unit 642 in the present embodiment.
FIG. 21A shows the waveform of the second energization signal, which is the applied voltage of each of the three phases in which the third harmonic is superimposed on the sine wave, and the energization section in which FET_Duty [%] is 100% or more. The waveform when the wide-angle trapezoidal wave is energized so that (hereinafter referred to as 100% energization angle) (reference numeral 215) is 110 ° is shown. Here, the applied voltage is applied to any two of the three phases of U phase, V phase, and W phase (at least one of V phase and W phase, W phase and U phase, and U phase and V phase). The duty value when the duty is the same is about 90% (reference numeral 210).
Here, as shown in FIG. 6, in the first energization signal, any two phases (V phase and W phase, W phase and U phase, U phase) of the three phases of U phase, V phase, and W phase are used. And at least one of the V phases), the duty value when the duty of the applied voltage becomes the same is about 80% (reference numeral 600). Therefore, the duty value when the duty of the applied voltage becomes the same is larger in the second energization signal (second control mode) than in the first energization signal (first control mode).

FIG. 21B is a timing chart showing the energization timings of the U, V, and W phases by the second drive control unit 642 in the present embodiment.
Here, FIG. 21B shows the waveform of the second energization signal, and shows the waveform when the wide-angle trapezoidal wave energization drive is performed so that the 100% energization angle (reference numeral 216) is 130 °. Further, here, the application is applied to any two of the three phases of the U phase, the V phase, and the W phase (at least one of the V phase and the W phase, the W phase and the U phase, and the U phase and the V phase). The duty value when the voltage duty is the same is about 100% (reference numeral 211).
Therefore, in the first energization signal (first control mode) shown in FIG. 6, the duty value when the duty of the applied voltage is the same for any two of the three phases is about 80%. On the other hand, in the second energization signal (second control mode), the duty value when the duty of the applied voltage is the same for any two of the three phases is about 100%. Therefore, the duty value when the duty of the applied voltage becomes the same is larger in the second energization signal (second control mode) than in the first energization signal (first control mode).

FIG. 21C is a timing chart showing the energization timings of the U, V, and W phases by the second drive control unit 642 in the present embodiment.
Here, FIG. 21C shows the waveform of the second energization signal, and shows the waveform when the wide-angle trapezoidal wave energization drive is performed so that the 100% energization angle (reference numeral 217) is 155 °. The second energization signal has an overlap energization section. Further, here, the application is applied to any two of the three phases of the U phase, the V phase, and the W phase (at least one of the V phase and the W phase, the W phase and the U phase, and the U phase and the V phase). The duty value when the voltage duty becomes the same is about 120% (reference numeral 212), and the apparent FET_Duty [%] of the two phases are both 100% in the overlap energization section.

Also in FIG. 21C, in the first energization signal (first control mode) shown in FIG. 6, the duty value when the applied voltage duty is the same for any two of the three phases is about 80. In contrast, in the second energization signal (second control mode), the duty value when the duty of the applied voltage is the same for any two of the three phases is about 120%. Is. Therefore, the duty value when the duty of the applied voltage becomes the same is the second energization signal (first energization signal) rather than the first energization signal (first control mode) even when the energization angle is expanded to 155 °. 2 control mode) is larger.

Further, the control unit 54 drives the second energization signal so that the current consumption and the motor output have a target balance when the 100% energization angle is controlled in the range of 110 ° to 155 °. It becomes possible. For example, when the current consumption is preferentially controlled among the current consumption and the motor output, the 100% energization angle may be set to a value closer to 110 ° in the range of 110 ° to 155 °, and 110 °. When set to, the current consumption can be further reduced. On the other hand, when controlling the current consumption and the motor output with priority given to improving the motor output, the 100% energization angle may be set to a value closer to 155 ° in the range of 110 ° to 155 °. Well, when it is set to 155 °, the motor output can be further improved.

FIG. 22 is a diagram showing the relationship between the current consumption and the 100% energization angle in the second energization signal. In this figure, the vertical axis represents the current consumption and the horizontal axis represents the 100% energization angle. Here, as shown by reference numeral 220, it was confirmed that the current consumption was the smallest when the 100% energization angle was set to 110 °.
FIG. 23 is a diagram showing the relationship between the rotation speed of the motor and the 100% energization angle when the 100% energization angle is set to 155 ° in the second energization signal. In this figure, the vertical axis represents the rotation speed of the motor, and the horizontal axis represents the 100% energization angle. Here, as shown by reference numeral 230, it was confirmed that the rotation speed of the motor became the largest, that is, the motor output became the largest when the 100% energization angle was set to 155 °.
When the 100% energization angle is increased from 110 °, the rotation speed of the motor increases as it approaches 155 °, the rotation speed becomes the largest at 155 °, and the rotation speed decreases when it exceeds 155 °. This is because by increasing the energization angle by 100%, the number of waves advancing with respect to the first energization signal increases, but when it exceeds 155 °, the wave that retards more than the effect of the advancing wave. This is because the impact will be large. Therefore, the retarding wave causes a drag torque (a force that tries to rotate the rotor in the opposite direction), so that the rotation speed is lower than the peak value.

Further, in the above-described embodiment, the motor control device 33 determines the rotation position of the rotor 22 based on the pulse signal supplied from the rotation angle detection unit 39, but the present invention is not limited to this. For example, the motor control device 33 may determine the rotation position of the rotor 22 based on the induced voltage generated in each

armature coil

21u, 21v, 21w according to the rotation of the rotor 22. This eliminates the need for the rotation angle detection unit 39 that detects the rotation position of the rotor 22, so that the number of parts and the manufacturing cost of the brushless motor 30 can be reduced.

Further, in the above-described embodiment, the wiper device 12 may include an output shaft sensor that detects at least one of the rotation speed and the absolute position of the output shaft 26. The absolute position is the rotation angle of the output shaft 26 with respect to the reference position. The reference position may be set at any position within the range of 360 degrees. The motor control device 33 may determine the rotation position of the rotor 22 based on the detection signal from the output shaft sensor.

Further, in the above-described embodiment, the wiper device 12 is not limited to the windshield 11 of the vehicle 10, and may wipe the rear glass. Further, the wiper device 12 may have a structure in which the

wiper arms

14 and 16 swing around the output shaft 26 as a fulcrum.

Further, in the above-described embodiment, the wiper device 12 may be configured to drive the two

wiper arms

14 and 16 by different brushless motors. Further, the brushless motor 30 of the present embodiment may be a motor having an IPM (Interior Permanent Magnet) structure or a motor having an SPM (Surface Permanent Magnet) structure.

Further, in the above-described embodiment, the mode selected by the wiper switch 37 is not limited to two types of the low-speed operation mode and the high-speed operation mode, and may be three or more types. For example, the mode selected by the wiper switch 37 may be three types, a low speed operation mode, a medium speed operation mode, and a high speed operation mode. Here, the rotation speed of the rotor 22 in the medium speed operation mode is higher than the rotation speed of the rotor 22 in the low speed wiping mode, and is lower than the rotation speed of the rotor 22 in the high speed operation mode. For example, when the medium speed operation mode is selected by the wiper switch 37, the motor control device 33 may perform a third harmonic energization drive on the brushless motor 30 or a wide-angle trapezoidal wave energization drive. Good.
Further, not limited to the high-speed operation mode, the medium-speed operation mode, and the low-speed operation mode, when it is determined that the load applied to the brushless motor 30 is high, the wide-angle trapezoidal wave energization drive or the wide-angle trapezoidal wave + "advance angle>0" ° ”The energization drive may be performed. That is, regardless of the mode selected by the wiper switch 37, when the high load signal is acquired to the mode determination unit 63, the wide-angle trapezoidal wave energization drive or the wide-angle trapezoidal wave + "advance angle> 0 °" It is possible to perform energization drive.

Further, although the case where the operation mode is selected according to the change of the wiper switch 37 has been described, the operation mode may be changed based on the detection result from the raindrop sensor instead of the wiper switch 37. For example, a raindrop sensor has a function of detecting a rainfall situation around a vehicle and is attached to the vehicle. Based on the detection result from the raindrop sensor, the low-speed operation mode may be set when the rainfall is less than the reference value, and the high-speed operation mode may be switched when the rainfall exceeds the reference value. Further, by providing three reference values for rainfall, it may be possible to switch to one of three types: low-speed operation mode, medium-speed operation mode, and high-speed operation mode.

The control unit 54 in the above-described embodiment may be realized by a computer. In that case, a program for realizing this function may be recorded on a computer-readable recording medium, and the program recorded on the recording medium may be read by a computer system and executed. The term "computer system" as used herein includes hardware such as an OS and peripheral devices. Further, the "computer-readable recording medium" refers to a portable medium such as a flexible disk, a magneto-optical disk, a ROM, or a CD-ROM, or a storage device such as a hard disk built in a computer system. Further, a "computer-readable recording medium" is a communication line for transmitting a program via a network such as the Internet or a communication line such as a telephone line, and dynamically holds the program for a short period of time. It may also include a program that holds a program for a certain period of time, such as a volatile memory inside a computer system that serves as a server or a client in that case. Further, the above program may be for realizing a part of the above-mentioned functions, and may be further realized for realizing the above-mentioned functions in combination with a program already recorded in the computer system. It may be realized by using a programmable logic device such as FPGA (Field Programmable Gate Array).

Further, in the above-described embodiment, the load determination unit 62 detects when the vehicle speed V measured by the vehicle speed sensor 40 exceeds a predetermined value Vth or is based on a pulse signal supplied from the rotation angle detection unit 39. When the rotation speed or the predetermined value of the rotor 22 exceeds the preset predetermined value, it is determined that the load of the brushless motor 30 is high, but the load is not limited to this. For example, when the resistance value due to an external force increases with respect to the operation of the brushless motor 30 during the operation in the low output mode, the rotation speed (rotation speed) of the rotor 22 is set from the preset target rotation speed (target rotation speed). It will decrease (shift). At this time, the control unit 54 increases the Duty value within the range of the low output mode in order to match the rotation speed (rotation speed) of the rotor 22 with the preset target rotation speed (target rotation speed). Then, when the control unit 54 recognizes that the duty value exceeds a predetermined threshold value, the mode may shift from the low output mode to the high output mode.

Although the embodiments of the present invention have been described in detail with reference to the drawings, the specific configuration is not limited to this embodiment, and includes designs and the like within a range that does not deviate from the gist of the present invention.

11 Windshield 12 Wiper device 19

Motor unit

21u, 21v, 21w Three-phase armature coil 22 Rotor (rotor)
52 Inverter 54 Control unit 61 Position detection unit 62 Load determination unit 63 Mode determination unit 64 Drive control unit 641 First drive control unit 642 Second drive control unit

Claims

A motor control device that controls a brushless motor including a rotor and three-phase armature coils of U-phase, V-phase, and W-phase.
A position detection unit that detects the rotation position of the rotor, and
The first control mode and the second control mode can be selected.
In the first control mode, the first drive signal is output to the inverter at the energization timing according to the rotation position of the rotor.
In the second control mode, a control unit that outputs a second drive signal to the inverter at an energization timing according to the rotation position of the rotor.
In the first control mode, a first energization signal is output as a voltage applied to the three-phase armature coil.
In the second control mode, the inverter that outputs a second energization signal as a voltage applied to the three-phase armature coil, and the inverter.
With
A motor control device in which the duty value when the duty of the applied voltage becomes the same for any two of the three phases is larger in the second control mode than in the first control mode.
The first energization signal is
It has a waveform in which a third harmonic is superimposed on a sine wave.
The second energization signal is
In a waveform in which a third harmonic is superimposed on a sine wave
Of the three phases, the U phase and the V are between an energized section in which only the duty of the applied voltage of the U phase is 100% and an energized section in which only the duty of the applied voltage of the V phase is 100%. The energized section where the duty of the applied voltage of the phase is 100%, and
The V phase and the W are between an energized section in which only the duty of the applied voltage of the V phase of the three phases is 100% and an energized section in which only the duty of the applied voltage of the W phase is 100%. The energized section where the duty of the applied voltage of the phase is 100%, and
The W phase and the V are between the energized section in which only the duty of the applied voltage of the W phase of the three phases is 100% and the energized section in which only the duty of the applied voltage of the U phase is 100%. The energized section where the duty of the applied voltage of the phase is 100%, and
Has a waveform with
The motor control device according to claim 1.
In the second control mode
The control unit outputs the second drive signal to the inverter at an energization timing in which an electric angle larger than the advance angle in the first control mode is advanced with reference to the rotation position of the rotor.
The motor control device according to claim 1 or 2.
The second energization signal is an energization in which the duty of the applied voltage is 100% or more in a waveform in which the amplitude of the first energization signal is changed to a value larger than 50% of the duty of the applied voltage to the armature coil. The section is a waveform in which the duty of the applied voltage is 100% and the duty of the applied voltage is 0% or less, and the energized section is a waveform in which the duty of the applied voltage is 0%. Any one of claims 1 to 3. The motor control device according to.
Any one of claims 1 to 4, wherein the control unit energizes so that the energization section in which the duty of the applied voltage of at least one of the three phases is 100% or more is in the range of 110 ° to 155 °. The motor control device according to item 1.
A motor control method in a motor control device that controls a rotor and a brushless motor including a U-phase, V-phase, and W-phase three-phase armature coil.
The motor control device is
A position detection unit that detects the rotation position of the rotor, and
The first control mode and the second control mode can be selected.
In the first control mode, the first drive signal is output to the inverter at the energization timing according to the rotation position of the rotor.
In the second control mode, a control unit that outputs a second drive signal to the inverter at an energization timing according to the rotation position of the rotor.
In the first control mode, a first energization signal is output as a voltage applied to the three-phase armature coil.
In the second control mode, the inverter that outputs a second energization signal as a voltage applied to the three-phase armature coil, and the inverter.
With
In the control unit, the duty value when the duty of the applied voltage is the same for any two of the three phases is larger in the second control mode than in the first control mode. A motor control method that controls the voltage.
A brushless motor, which is a brushless wiper motor that swings the wiper arm,
The motor control device according to any one of claims 1 to 5.
Motor unit with.
A brushless sunroof motor that opens and closes the roof panel,
The motor control device according to any one of claims 1 to 5.
Motor unit with.